Multi-agents path planning for a mobile robot in a dynamic warehouse environment
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Tarih
2023
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer Science and Business Media Deutschland
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Route planning in robotic systems is a critical and complex task in any environment. Robotic systems allow multiple robots to accomplish multiple goals simultaneously. Many mobile service robots are now used in warehouses to reduce operating and overhead costs. Large warehouses may have multiple robots to handle a large number of tasks. Route planning means finding the best route, i.e. the route without collisions. Optimizing both parameters can be a daunting task. By properly addressing the problem of route planning between robots, we can improve the efficiency of the operation of the entire warehouse. At the beginning, every robot will navigate to its desired goal by funding the optimal route without collisions with other robots. In this work, a relative study with the notable route plan was presented. The proposed intelligent approach was presented for a multi-robot system that finds the best collision-free path in the warehouse and processes the storage box. This paper proposes a sensible variety metric for multi-robotic structures to intelligently become aware of goals and take the best minimum paths to attain them without encountering collisions. Using an intelligent variety metric to discover the route that we want to reach our goal. The proposed planning path are similar to different works including A *, RNN, PRM and heuristics. Three exclusive times of the warehouse have been taken into consideration to carry out experiments with parameters including route length, common route, and elapsed time. Experiments with 800 pods and sixteen robots have said overall performance enhancements of as much as 2.3%, common route length, and elapsed time of 11%.
Açıklama
Anahtar Kelimeler
Conflict algorithm, Dynamic environment, Mobile robot, Warehouse
Kaynak
Lecture Notes in Networks and Systems
WoS Q Değeri
Scopus Q Değeri
Q4
Cilt
643
Sayı
Künye
Alhassow, M. M., Ata, O., Atilla, D. C. (2023). Multi-agents path planning for a mobile robot in a dynamic warehouse environment. In Computational Intelligence, Data Analytics and Applications: Selected papers from the International Conference on Computing, Intelligence and Data Analytics (ICCIDA) (pp. 520-534). Cham: Springer International Publishing.
